CN114451149A - Profiling shearing lifting type intelligent picking robot for watermelon and melon - Google Patents
Profiling shearing lifting type intelligent picking robot for watermelon and melon Download PDFInfo
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- CN114451149A CN114451149A CN202210209180.9A CN202210209180A CN114451149A CN 114451149 A CN114451149 A CN 114451149A CN 202210209180 A CN202210209180 A CN 202210209180A CN 114451149 A CN114451149 A CN 114451149A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Harvesting Machines For Specific Crops (AREA)
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Abstract
The invention discloses a profiling shearing lifting type intelligent picking robot for watermelon and melon, which belongs to the field of agricultural machinery and structurally comprises a wheel type moving module, a rotating module, a first moving module, a second moving module and an end effector, wherein the wheel type moving module is used for realizing the integral supporting and moving of the robot, the rotating module, the first moving module and the second moving module are used for realizing the supporting and moving of the end effector, and the end effector is used for realizing the picking of watermelon and melon.
Description
Technical Field
The invention belongs to the field of agricultural machinery, relates to a melon and fruit picking robot, and particularly relates to a profiling shearing and lifting type intelligent watermelon and melon picking robot.
Background
The watermelon and melon are the main seasonal fruits meeting the summer consumption demands of residents, and the industrial importance of the watermelon and melon is increasing day by day. The watermelon and melon planting area and yield are huge in China, but the harvesting operation of the watermelon and melon is mainly in a manual operation mode, the mechanized technology is lacked, the labor amount is large, the labor intensity is high, the production cost is high, and the production benefit of the watermelon and melon is low.
Therefore, the intelligent watermelon and melon picking robot capable of automatically completing the watermelon and melon picking operation is needed to be designed, the watermelon and melon picking efficiency is improved, the production cost is reduced, and the economic benefit of the watermelon and melon industry is further improved.
Disclosure of Invention
The invention aims to solve the problems of low efficiency, high labor intensity, high production cost and the like of the current watermelon and melon manual harvesting operation, provides a profiling shearing lifting type watermelon and melon intelligent picking robot, realizes automation and intelligence of watermelon and melon harvesting, improves harvesting efficiency, reduces production cost and further improves economic benefits of watermelon and melon industries.
The technical scheme of the invention is as follows: the utility model provides a profiling shearing lift formula west melon intelligence harvesting robot which characterized in that: the profiling shearing lifting type intelligent watermelon and melon picking robot consists of a wheel type moving module, a rotating module, a first moving module, a second moving module and an end effector;
the wheel type mobile module consists of a trolley body, trolley wheels, a collecting box, a supporting column, a mounting box, a controller, an air pump, a first camera and a storage battery pack; the trolley wheels are mounted on the side face of the trolley body through bolts, the collecting box is mounted on the rear upper portion of the trolley body through bolts, the supporting column is mounted on the front upper portion of the trolley body through bolts, the mounting box is mounted on the front side of the trolley body through bolts, the controller is mounted inside the mounting box through bolts, the air pump is mounted inside the mounting box through bolts, the first camera is fixedly arranged on the front side of the mounting box, and the storage battery is mounted on the rear side of the trolley body through bolts;
the rotating module is composed of a planetary gear speed reducing motor, a mounting flange and a first mounting plate; the mounting flange is mounted above the supporting column through bolts, the planetary gear speed reducing motor is fixed on the mounting flange through bolts, and the first mounting plate is rotationally connected with the mounting flange through a bearing and is connected with an output shaft of the planetary gear speed reducing motor through a key;
the first moving module is composed of a first sliding block, a first guide rail, a first ball screw, a first motor mounting seat, a first motor, a first coupler and a second mounting plate; the first sliding block is mounted on the first mounting plate through a bolt, the first guide rail is mounted on the first sliding block through a sliding pair, the first ball screw is mounted on the first guide rail through a bearing, the first ball screw is rotatably connected with the first sliding block through a screw pair, the first motor mounting seat is mounted at the right end of the first guide rail through a bolt, the first motor is mounted on the first motor mounting seat through a bolt, the output shaft of the first motor is fixedly connected with the first ball screw through the first coupler, and the second mounting plate is mounted at the left end of the first guide rail through a bolt;
the second moving module consists of a second sliding block, a second guide rail, a second ball screw, a second motor mounting seat, a second motor, a second coupler, a third mounting plate and a second camera; the second sliding block is mounted on the second mounting plate through a bolt, the second guide rail is mounted on the second sliding block through a sliding pair, the second ball screw is mounted on the second guide rail through a bearing, the second ball screw is rotatably connected with the second sliding block through a screw pair, the second motor mounting seat is mounted at the upper end of the second guide rail through a bolt, the second motor is mounted on the second motor mounting seat through a bolt, the output shaft of the second motor is fixedly connected with the second ball screw through a second coupler, the third mounting plate is mounted at the lower end of the second guide rail through a bolt, and the second camera is fixedly mounted on the left side of the second guide rail;
the end effector consists of an electric clamping jaw, a first profiling lifting disc, a first blade, a first nozzle group, a second nozzle group, a first rubber layer, a second profiling lifting disc, a second blade, a third nozzle group, a fourth nozzle group and a second rubber layer; the first profiling lifting disc and the second profiling lifting disc are respectively arranged on two tail end clamping fingers of the electric clamping jaw through bolts, the first blade is arranged on the inner side of the first profiling lifting disc through bolts, the first nozzle group and the second nozzle group are arranged on the front side of the first profiling lifting disc through bolts, the first rubber layer is arranged below the first profiling lifting disc through bonding, the second blade is arranged on the inner side of the second profiling lifting disc through bolts, the third nozzle group and the fourth nozzle group are arranged on the front side of the second profiling lifting disc through bolts, and the second rubber layer is arranged below the second profiling lifting disc through bonding;
the wheel type moving module moves to a specified area through the road information and the position information of the watermelon and melon respectively acquired by the first camera and the second camera; the planetary gear speed reducing motor drives the first moving module to rotate through the first mounting plate; the first motor drives the first ball screw to rotate, the first guide rail moves relative to the first sliding block through the first ball screw, and the first guide rail drives the second moving module to horizontally reciprocate through the second mounting plate; the second motor drives the second ball screw to rotate, the second guide rail moves relative to the second sliding block through the second ball screw, and the second guide rail drives the end effector to vertically reciprocate through the third mounting plate; the first profiling lifting disc and the second profiling lifting disc are opened through an electric clamping jaw; the end effector moves to the position below the watermelon and melon through the rotating module, the first moving module and the second moving module; the first profiling lifting disc and the second profiling lifting disc are lifted to two sides of the west melon through the second moving module, and meanwhile, the first nozzle group, the second nozzle group, the third nozzle group and the fourth nozzle group blow air through the air pump to blow away blades around the west melon; the first profiling lifting disc and the second profiling lifting disc are closed through electric clamping jaws, the first profiling lifting disc and the second profiling lifting disc respectively drive the first blade and the second blade to be closed, the stems of the watermelon melons are cut off, and the watermelon melons fall into the first profiling lifting disc and the second profiling lifting disc under the action of gravity; rotation module, first removal module and second remove the module and transfer end effector extremely the collecting box top, first profile modeling lift dish and second profile modeling lift dish pass through electric clamping jaw opens, and the west melon falls into the collecting box under the action of gravity, realizes the collection of west melon.
The end effector is provided with a first nozzle group, a second nozzle group, a third nozzle group and a fourth nozzle group which are connected with an air pump through an air pipe; the first nozzle group, the second nozzle group, the third nozzle group and the fourth nozzle group blow air through the air pump to blow away blades around the watermelon and melon, so that the second camera can position the watermelon and melon handle.
The first profiling lifting disc and the second profiling lifting disc are of hollow hemispherical structures so as to achieve profiling lifting of the watermelon and melon.
The first blade and the second blade are arc-shaped blades so as to realize the profile cutting of the watermelon and melon handle.
The first guide rail moves relative to the first sliding block through the first ball screw, and the first guide rail drives the second moving module to horizontally reciprocate through the second mounting plate.
The second guide rail moves relative to the second sliding block through a second ball screw, and the second guide rail drives the end effector to vertically reciprocate through a third mounting plate.
The invention has the beneficial effects that: the invention provides a profiling shearing lifting type intelligent picking robot for watermelon and melon, which structurally comprises a wheel type moving module, a rotating module, a first moving module, a second moving module and an end effector, and is novel in structure; the wheel type moving module moves to a designated area through road information and watermelon and melon position information which are respectively acquired by the first camera and the second camera; the planetary gear speed reducing motor drives the first moving module to rotate through the first mounting plate; the first motor drives the first ball screw to rotate, the first guide rail moves relative to the first sliding block through the first ball screw, and the first guide rail drives the second moving module to horizontally reciprocate through the second mounting plate; the second motor drives the second ball screw to rotate, the second guide rail moves relative to the second sliding block through the second ball screw, and the second guide rail drives the end effector to vertically reciprocate through the third mounting plate; the first profiling lifting disc and the second profiling lifting disc are opened through the electric clamping jaw; the end effector moves to the position below the watermelon and melon through the rotating module, the first moving module and the second moving module; the first profiling lifting disc and the second profiling lifting disc are lifted to two sides of the west melon through the second moving module, and meanwhile, the first nozzle group, the second nozzle group, the third nozzle group and the fourth nozzle group blow air through the air pump to blow away blades around the west melon; the first profiling lifting disc and the second profiling lifting disc are closed through the electric clamping jaws, the first profiling lifting disc and the second profiling lifting disc respectively drive the first blade and the second blade to be closed, the stems of the watermelon are cut off, and the watermelon falls into the first profiling lifting disc and the second profiling lifting disc under the action of gravity; the rotating module, the first moving module and the second moving module transfer the end effector to the upper part of the collecting box, the first profiling lifting disc and the second profiling lifting disc are opened through the electric clamping jaws, and the watermelon falls into the collecting box under the action of gravity, so that the collection of the watermelon is realized; the tail end actuator disclosed by the invention adopts a profiling structure to coat, shear and lift the watermelon and finishes the harvest of the watermelon by utilizing gravity, so that the clamping of the watermelon and the melon can be avoided, the picking damage is reduced to a great extent, and the harvest success rate is improved; the rotating module adopts a planetary gear speed reduction motor, so that larger torque can be obtained, and the rotating module, the first moving module and the second moving module are driven to rotate; the first moving module and the second moving module adopt ball screw transmission devices, the moving parts have high structural rigidity, and the heavy end effector and the watermelon melon can be borne.
Drawings
FIG. 1 is a schematic diagram of the overall three-dimensional structure of the present invention.
Fig. 2 is a schematic structural diagram of the wheel-type moving module according to the present invention.
Fig. 3 is a supplementary structural schematic diagram of the wheel-type moving module according to the present invention.
Fig. 4 is a schematic structural diagram of a rotating module according to the present invention.
Fig. 5 is a schematic structural diagram of a first moving module according to the present invention.
Fig. 6 is a front view of the second moving module according to the present invention.
Fig. 7 is a left side view showing the structure of a second moving module according to the present invention.
Fig. 8 is a schematic structural view of an end effector of the present invention.
In the figure, a wheel type moving module 100, a rotating module 200, a first moving module 300, a second moving module 400, an end effector 500, a trolley body 101, a trolley wheel 102, a collecting box 103, a supporting column 104, a mounting box 105, a controller 106, an air pump 107, a first camera 108, a battery pack 109, a planetary gear speed reduction motor 201, a mounting flange 202, a first mounting plate 203, a first slider 301, a first guide rail 302, a first ball screw 303, a first motor mounting base 304, a first motor 305, a first coupling 306, a second mounting plate 307, a second slider 401, a second guide rail 402, a second ball screw 403, a second motor mounting base 404, a second motor 405, a second coupling 406, a third mounting plate 407, a second camera 408, an electric clamping jaw 501, a first profiling lifting disc 502, a first blade 503, a first nozzle group 504, a second nozzle group 505, a first rubber layer 506, a second nozzle group 505, a second nozzle group, a third nozzle group and a control method, A second profiling lifting disc 507, a second blade 508, a third nozzle group 509, a fourth nozzle group 510 and a second rubber layer 511.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, a profiling shearing lifting type intelligent picking robot for watermelon and melon is composed of a wheel type moving module 100, a rotating module 200, a first moving module 300, a second moving module 400 and an end effector 500.
As shown in fig. 2-3, a profiling shearing lifting type intelligent picking robot for watermelon and melon comprises a wheel type mobile module 100, a trolley body 101, trolley wheels 102, a collecting box 103, a supporting column 104, a mounting box 105, a controller 106, an air pump 107, a first camera 108 and a storage battery pack 109; the trolley wheels 102 are mounted on the side face of the trolley body 101 through bolts, the collecting box 103 is mounted on the rear upper portion of the trolley body 101 through bolts, the supporting column 104 is mounted on the front upper portion of the trolley body 101 through bolts, the mounting box 105 is mounted on the front side of the trolley body 101 through bolts, the controller 106 is mounted inside the mounting box 105 through bolts, the air pump 107 is mounted inside the mounting box 105 through bolts, the first camera 108 is fixedly arranged on the front side of the mounting box 105, and the storage battery pack 109 is mounted on the rear side of the trolley body 101 through bolts.
As shown in fig. 4, a profiling shearing lifting type intelligent picking robot for watermelon and melon, a rotating module 200 is composed of a planetary gear speed reducing motor 201, a mounting flange 202 and a first mounting plate 203; the mounting flange 202 is mounted above the supporting column 104 through bolts, the planetary gear speed reduction motor 201 is fixed on the mounting flange 202 through bolts, and the first mounting plate 203 is rotatably connected with the mounting flange 202 through a bearing and is connected with an output shaft of the planetary gear speed reduction motor 201 through a key.
As shown in fig. 5, a profiling shearing lifting type intelligent picking robot for watermelon and melon comprises a first moving module 300, a second moving module and a third moving module, wherein the first moving module 300 is composed of a first sliding block 301, a first guide rail 302, a first ball screw 303, a first motor mounting base 304, a first motor 305, a first coupling 306 and a second mounting plate 307; first slider 301 passes through the bolt and installs on first mounting panel 203, first guide rail 302 passes through the sliding pair and installs on first slider 301, first ball 303 passes through the bearing and installs on first guide rail 302, first ball 303 passes through the screw pair and is connected with first slider 301 rotation, first motor mount pad 304 passes through the bolt and installs at first guide rail 302 right-hand member, first motor 305 passes through the bolt and installs on first motor mount pad 304, first motor 305 output shaft passes through first shaft coupling 306 and first ball 303 fixed connection, second mounting panel 307 passes through the bolt and installs at first guide rail 302 left end.
As shown in fig. 6-7, a profiling shearing lifting type intelligent picking robot for watermelon and melon comprises a second moving module 400, a second sliding block 401, a second guide rail 402, a second ball screw 403, a second motor mounting seat 404, a second motor 405, a second coupling 406, a third mounting plate 407 and a second camera 408; the second slider 401 is mounted on the second mounting plate 307 through bolts, the second guide rail 402 is mounted on the second slider 401 through a sliding pair, the second ball screw 403 is mounted on the second guide rail 402 through a bearing, the second ball screw 403 is rotatably connected with the second slider 401 through a screw pair, the second motor mounting seat 404 is mounted at the upper end of the second guide rail 402 through bolts, the second motor 405 is mounted on the second motor mounting seat 404 through bolts, an output shaft of the second motor 405 is fixedly connected with the second ball screw 403 through a second coupling 406, the third mounting plate 407 is mounted at the lower end of the second guide rail 402 through bolts, and the second camera 408 is fixedly mounted at the left side of the second guide rail 402.
As shown in fig. 8, an end effector 500 of a profiling shearing lifting type muskmelon intelligent picking robot is composed of an electric clamping jaw 501, a first profiling lifting disc 502, a first blade 503, a first nozzle group 504, a second nozzle group 505, a first rubber layer 506, a second profiling lifting disc 507, a second blade 508, a third nozzle group 509, a fourth nozzle group 510 and a second rubber layer 511; the first profiling lifting disc 502 and the second profiling lifting disc 507 are respectively arranged on two tail end clamping fingers of the electric clamping jaw 501 through bolts, the first blade 503 is arranged on the inner side of the first profiling lifting disc 502 through bolts, the first nozzle group 504 and the second nozzle group 505 are arranged on the front side of the first profiling lifting disc 502 through bolts, the first rubber layer 506 is arranged below the first profiling lifting disc 502 through adhesion, the second blade 508 is arranged on the inner side of the second profiling lifting disc 507 through bolts, the third nozzle group 509 and the fourth nozzle group 510 are arranged on the front side of the second profiling lifting disc 507 through bolts, and the second rubber layer 511 is arranged below the second profiling lifting disc 507 through adhesion.
As shown in fig. 1-8, the working principle of the profiling shearing lifting type intelligent picking robot for watermelon and melon is as follows: the wheel-type moving module 100 moves to a specified area through the road information and the position information of the watermelon and melon respectively acquired by the first camera 108 and the second camera 408; the planetary gear speed reduction motor 201 drives the first mobile module 300 to rotate through the first mounting plate 203; the first motor 305 drives the first ball screw 303 to rotate, the first guide rail 302 moves relative to the first slider 301 through the first ball screw 303, and the first guide rail 302 drives the second moving module 400 to horizontally reciprocate through the second mounting plate 307; the second motor 405 drives the second ball screw 403 to rotate, the second guide rail 402 moves relative to the second slider 401 through the second ball screw 403, and the second guide rail 402 drives the end effector 500 to vertically reciprocate through the third mounting plate 407; the first profiling lifting disc 502 and the second profiling lifting disc 507 are opened through the electric clamping jaw 501; the end effector 500 is moved below the watermelon by the rotation module 200, the first movement module 300 and the second movement module 400; the first profiling lifting disc 502 and the second profiling lifting disc 507 are lifted to the two sides of the watermelon and melon through the second moving module 400, and meanwhile, the first nozzle group 504, the second nozzle group 505, the third nozzle group 509 and the fourth nozzle group 510 are sprayed with air through the air pump 107, so that blades around the watermelon and melon are blown away; the first profiling lifting disc 502 and the second profiling lifting disc 507 are closed through the electric clamping jaw 501, the first profiling lifting disc 502 and the second profiling lifting disc 507 respectively drive the first blade 503 and the second blade 508 to be closed, the stems of the watermelon melons are cut off, and the watermelon melons fall into the first profiling lifting disc 502 and the second profiling lifting disc 507 under the action of gravity; the end effector 500 is transferred to the upper side of the collection box 103 by the rotating module 200, the first moving module 300 and the second moving module 400, the first profiling lifting disc 502 and the second profiling lifting disc 507 are opened through the electric clamping jaws 501, and the watermelon falls into the collection box 103 under the action of gravity, so that the collection of the watermelon is realized.
The parts such as the trolley body 101, the trolley wheels 102, the controller 106, the air pump 107, the first camera 108, the battery pack 109, the planetary gear reduction motor 201, the first motor 305, the first coupling 306, the second motor 405, the second coupling 406, the second camera 408, the electric clamping jaw 501, the first nozzle group 504, the second nozzle group 505, the third nozzle group 509, the fourth nozzle group 510, and the like, are common module parts in the market or common in the prior art, and are not described one by one here.
Claims (6)
1. The utility model provides a lifting west melon intelligence picking robot is cuted to profile modeling, its characterized in that: the profiling shearing lifting type intelligent watermelon and melon picking robot consists of a wheel type moving module (100), a rotating module (200), a first moving module (300), a second moving module (400) and an end effector (500);
the wheel type mobile module (100) is composed of a trolley body (101), trolley wheels (102), a collecting box (103), a supporting column (104), a mounting box (105), a controller (106), an air pump (107), a first camera (108) and a storage battery pack (109); the trolley wheels (102) are mounted on the side face of the trolley body (101) through bolts, the collecting box (103) is mounted on the rear upper portion of the trolley body (101) through bolts, the supporting column (104) is mounted on the front upper portion of the trolley body (101) through bolts, the mounting box (105) is mounted on the front side of the trolley body (101) through bolts, the controller (106) is mounted inside the mounting box (105) through bolts, the air pump (107) is mounted inside the mounting box (105) through bolts, the first camera (108) is fixedly arranged on the front side of the mounting box (105), and the storage battery (109) is mounted on the rear side of the trolley body (101) through bolts;
the rotating module (200) is composed of a planetary gear speed reducing motor (201), a mounting flange (202) and a first mounting plate (203); the mounting flange (202) is mounted above the supporting column (104) through bolts, the planetary gear speed reducing motor (201) is fixed to the mounting flange (202) through bolts, and the first mounting plate (203) is in rotary connection with the mounting flange (202) through a bearing and is connected with an output shaft of the planetary gear speed reducing motor (201) through a key;
the first moving module (300) is composed of a first sliding block (301), a first guide rail (302), a first ball screw (303), a first motor mounting seat (304), a first motor (305), a first coupler (306) and a second mounting plate (307); the first sliding block (301) is mounted on the first mounting plate (203) through a bolt, the first guide rail (302) is mounted on the first sliding block (301) through a sliding pair, the first ball screw (303) is mounted on the first guide rail (302) through a bearing, the first ball screw (303) is rotatably connected with the first sliding block (301) through a screw pair, the first motor mounting seat (304) is mounted at the right end of the first guide rail (302) through a bolt, the first motor (305) is mounted on the first motor mounting seat (304) through a bolt, an output shaft of the first motor (305) is fixedly connected with the first ball screw (303) through the first coupler (306), and the second mounting plate (307) is mounted at the left end of the first guide rail (302) through a bolt;
the second moving module (400) is composed of a second sliding block (401), a second guide rail (402), a second ball screw (403), a second motor mounting seat (404), a second motor (405), a second coupler (406), a third mounting plate (407) and a second camera (408); the second slider (401) is mounted on the second mounting plate (307) by bolts, the second guide rail (402) is arranged on the second sliding block (401) through a sliding pair, the second ball screw (403) is mounted on the second guide rail (402) through a bearing, the second ball screw (403) is rotationally connected with the second sliding block (401) through a screw pair, the second motor mounting seat (404) is mounted at the upper end of the second guide rail (402) through a bolt, the second motor (405) is mounted on the second motor mounting seat (404) through a bolt, the output shaft of the second motor (405) is fixedly connected with the second ball screw (403) through the second coupling (406), the third mounting plate (407) is mounted at the lower end of the second guide rail (402) by bolts, the second camera (408) is fixedly arranged at the left side of the second guide rail (402);
the end effector (500) is composed of an electric clamping jaw (501), a first profiling lifting disc (502), a first blade (503), a first nozzle group (504), a second nozzle group (505), a first rubber layer (506), a second profiling lifting disc (507), a second blade (508), a third nozzle group (509), a fourth nozzle group (510) and a second rubber layer (511); the first profiling lifting disc (502) and the second profiling lifting disc (507) are respectively arranged on two tail end clamping fingers of the electric clamping jaw (501) through bolts, the first blade (503) is installed on the inner side of the first profiling lifting disc (502) through a bolt, the first nozzle group (504) and the second nozzle group (505) are installed on the front side of the first profiling lifting disc (502) through bolts, the first rubber layer (506) is arranged below the first profiling lifting disc (502) through bonding, the second blade (508) is arranged on the inner side of the second profiling lifting disc (507) through a bolt, the third nozzle group (509) and the fourth nozzle group (510) are mounted on the front side of the second profiling lifting disc (507) through bolts, the second rubber layer (511) is arranged below the second profiling lifting disc (507) through bonding;
the wheel-type moving module (100) moves to a specified area through the road information and the watermelon and melon position information respectively acquired by the first camera (108) and the second camera (408); the planetary gear speed reducing motor (201) drives the first moving module (300) to rotate through the first mounting plate (203); the first motor (305) drives the first ball screw (303) to rotate, the first guide rail (302) moves relative to the first sliding block (301) through the first ball screw (303), and the first guide rail (302) drives the second moving module (400) to horizontally reciprocate through the second mounting plate (307); the second motor (405) drives the second ball screw (403) to rotate, the second guide rail (402) moves relative to the second sliding block (401) through the second ball screw (403), and the second guide rail (402) drives the end effector (500) to vertically reciprocate through the third mounting plate (407); the first profiling lifting disc (502) and the second profiling lifting disc (507) are opened through an electric clamping jaw (501); the end effector (500) is moved below the watermelon by the rotation module (200), the first movement module (300) and the second movement module (400); the first profiling lifting disc (502) and the second profiling lifting disc (507) ascend to two sides of the west melon through the second moving module (400), and meanwhile, the first nozzle group (504), the second nozzle group (505), the third nozzle group (509) and the fourth nozzle group (510) blow air through the air pump (107) to blow away blades around the west melon; the first profiling lifting disc (502) and the second profiling lifting disc (507) are closed through an electric clamping jaw (501), the first profiling lifting disc (502) and the second profiling lifting disc (507) respectively drive a first blade (503) and a second blade (508) to be closed, the handles of the watermelon are cut off, and the watermelon falls into the first profiling lifting disc (502) and the second profiling lifting disc (507) under the action of gravity; the rotary module (200), the first moving module (300) and the second moving module (400) move the end effector (500) to the upper side of the collecting box (103), the first profiling lifting disc (502) and the second profiling lifting disc (507) are opened through the electric clamping jaws (501), and the watermelon falls into the collecting box (103) under the action of gravity, so that the collection of the watermelon is realized.
2. The profiling shearing lifting type intelligent picking robot for the watermelon and melon according to claim 1, wherein the profiling shearing lifting type intelligent picking robot comprises: the end effector (500) is provided with a first nozzle group (504), a second nozzle group (505), a third nozzle group (509) and a fourth nozzle group (510), and is connected with the air pump (107) through an air pipe; the first nozzle group (504), the second nozzle group (505), the third nozzle group (509) and the fourth nozzle group (510) blow air through the air pump (107) to blow away blades around the watermelon and melon, so that the second camera (408) positions the watermelon and melon handle.
3. The profiling shearing lifting type intelligent picking robot for the watermelon and melon according to claim 1, wherein the profiling shearing lifting type intelligent picking robot comprises: the first profiling lifting disc (502) and the second profiling lifting disc (507) are of hollow hemispherical structures so as to realize profiling lifting of the watermelon and melon.
4. The profiling shearing lifting type intelligent picking robot for the watermelon and melon according to claim 1, wherein the profiling shearing lifting type intelligent picking robot comprises: the first blade (503) and the second blade (508) are blades with circular arc structures, so that the watermelon stems can be cut in a shape-copying mode.
5. The profiling shearing lifting type intelligent picking robot for the watermelon and melon according to claim 1, wherein the profiling shearing lifting type intelligent picking robot comprises: the first guide rail (302) moves relative to the first sliding block (301) through a first ball screw (303), and the first guide rail (302) drives the second moving module (400) to horizontally reciprocate through a second mounting plate (307).
6. The profiling shearing lifting type intelligent picking robot for the watermelon and melon according to claim 1, wherein the profiling shearing lifting type intelligent picking robot comprises: the second guide rail (402) moves relative to the second sliding block (401) through a second ball screw (403), and the second guide rail (402) drives the end effector (500) to vertically reciprocate through a third mounting plate (407).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210209180.9A CN114451149A (en) | 2022-03-04 | 2022-03-04 | Profiling shearing lifting type intelligent picking robot for watermelon and melon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210209180.9A CN114451149A (en) | 2022-03-04 | 2022-03-04 | Profiling shearing lifting type intelligent picking robot for watermelon and melon |
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| Publication Number | Publication Date |
|---|---|
| CN114451149A true CN114451149A (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210209180.9A Withdrawn CN114451149A (en) | 2022-03-04 | 2022-03-04 | Profiling shearing lifting type intelligent picking robot for watermelon and melon |
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| Country | Link |
|---|---|
| CN (1) | CN114451149A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| CN114946408A (en) * | 2022-06-09 | 2022-08-30 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation of melons and operation method of four-wheel type multifunctional orchard mechanical device |
-
2022
- 2022-03-04 CN CN202210209180.9A patent/CN114451149A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| CN114946408A (en) * | 2022-06-09 | 2022-08-30 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation of melons and operation method of four-wheel type multifunctional orchard mechanical device |
| CN114946408B (en) * | 2022-06-09 | 2023-11-28 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation melon |
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Application publication date: 20220510 |